Electromagnetic payload orientation control

ABSTRACT

Apparatus and associated methods relate to an electromagnetic steered orientation device. In an illustrative example, an exemplary electromagnetic payload orientation device (EPOD) includes a rotor, a stator, and a payload mounted on the rotor. The rotor, for example, may be coupled to a magnetic source. For example, the stator may include electromagnetic coils operable by a controller circuit to induce relative rotation between the rotor and the stator. In some examples, the rotor is a sphere provided with one or more guide tracks on an outer surface, and the stator is a concentric shell surrounding the sphere provided with at least one follower corresponding to the guide tracks such that a relative rotation between the rotor and stator is constrained by the guide track to follow a predetermined motion profile. Various embodiments may advantageously provide a substantially smooth and low voltage mechanism to orient the payload.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application Ser.No. 63/202,459, titled “ELECTROMAGNETIC PAYLOAD ORIENTATION CONTROL,”filed by Rodney Alston, on Jun. 11, 2021.

This application incorporates the entire contents of the foregoingapplication(s) herein by reference.

TECHNICAL FIELD

Various embodiments relate generally to electromagnetic orientation of apayload.

BACKGROUND

Video conferencing is a type of virtual, online meeting where two ormore people talk through a video and audio call in real-time. Forexample, a video conference can be a point to point video conferenceinvolving two participants in different locations. For example, a videoconference can be a multi-point video conference where three or morepeople in at least two locations (e.g., a business meeting with someparticipants at the office and others remote, or a webinar where aperson streams to viewers in several locations). To join a videoconference, for example, participants typically may be required to havea web camera for video capturing, a microphone for voice capturing, aspeaker or headphone for playing sound from the video conference, and acomputing device connecting through the Internet to run a videoconference software.

During the COVID-19 pandemic, for example, teaching webinars sometimesbecome a viable channel for teaching and instruction in a lock-downand/or for quarantined students. Although this new form of transferringknowledge may have advantages of, for example, being more inclusive,more affordable, less time-consuming, and/or more convenientlyaccessible, teaching webinars may also present new challenges toteachers and instructors.

SUMMARY

Apparatus and associated methods relate to an electromagnetic steeredorientation device. In an illustrative example, an exemplaryelectromagnetic payload orientation device (EPOD) includes a rotor, astator, and a payload mounted on the rotor. The rotor, for example, maybe coupled to a magnetic source. For example, the stator may includeelectromagnetic coils operable by a controller circuit to inducerelative rotation between the rotor and the stator. In some examples,the rotor is a sphere provided with one or more guide tracks on an outersurface, and the stator is a concentric shell surrounding the sphereprovided with at least one follower corresponding to the guide trackssuch that a relative rotation between the rotor and stator isconstrained by the guide track to follow a predetermined motion profile.Various embodiments may advantageously provide a low voltage mechanismwith smooth operation to orient the payload.

Various embodiments may achieve one or more advantages. For example,some embodiments may include an object tracking module to advantageouslyorient the payload automatically to a target. Some embodiments may, forexample, include a thermal imaging array as the payload so that the EPODmay be configured to advantageously track a thermal target. Someembodiments may include an optical sensor as the payload toadvantageously track an image object. For example, some embodiments mayinclude the predetermine motion profile defined as a function of the atleast one guide track such that an angle between the optical axis andthe axis of rotation may advantageously less than 180 degrees.

For example, some embodiments may advantageously address a technologicalproblem of engagements between students and teachers being impaired dueto lack of visibility (e.g., of facial expression) due to technicaldifficulties (e.g., limitation in a size of viewing frame, movement of astudent relative to the camera). Such embodiments may, for example,advantageously mechanically track a user using an EPOD equipped with acamera payload.

The details of various embodiments are set forth in the accompanyingdrawings and the description below. Other features and advantages willbe apparent from the description and drawings, and from the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A, FIG. 1B, and FIG. 1C depict an exemplary electromagneticpayload orientation device (EPOD) employed in an illustrative use-casescenario, the EPOD having a spherical rotor coupled to an array ofelectromagnetic sources.

FIG. 2A and FIG. 2B depict an exemplary EPOD having a spherical rotorcoupled to a magnetic source.

FIG. 3 depicts an exemplary EPOD having a cylindrical rotor configuredto rotate about a spherical stator.

FIG. 4 depicts an exemplary EPOD having a cylindrical rotor configuredto be rotated about a spherical stator by telescopingelectromagnetically driven arms.

FIG. 5 depicts an exemplary EPOD having a cylindrical rotor configuredto be rotated about a spherical stator by electromagnetically rotatedfollowers.

FIG. 6 depicts an exemplary EPOD configured to electromagneticallycontrol focus and/or aperture of an optical sensor.

FIG. 7 depicts an exemplary orientation steering method of an exemplaryEPOD.

Like reference symbols in the various drawings indicate like elements.

DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

To aid understanding, this document is organized as follows. First, tohelp introduce discussion of various embodiments, an electromagneticpayload orientation device (EPOD) is introduced with reference to FIGS.1A-1C. Second, that introduction leads into a description with referenceto FIGS. 2A-2B of some exemplary embodiments of EPOD. Third, withreference to FIGS. 3-5 , alternative embodiments are described inapplication to the exemplary EPOD. Fourth, with reference to FIG. 6 ,the discussion turns to exemplary embodiments that illustrate anexemplary EPOD for controlling focus and/or aperture of an opticalsensor. Fifth, and with reference to FIG. 7 , this document describesexemplary apparatus and methods useful for electromagnetically orientingand steering using the EPOD. Finally, the document discusses furtherembodiments, exemplary applications and aspects relating toelectromagnetic steered orientation devices.

FIG. 1A, FIG. 1B, and FIG. 1C depict an exemplary electromagneticpayload orientation device (EPOD 100) employed in an illustrativeuse-case scenario. As shown in FIG. 1A, a user 1005 is using a laptop1010 to, for example, online communicate with other users through acomputer network (e.g., having an online conference, taking an onlinecourse, or otherwise meeting with other users via a wired or wirelessnetwork).

During an online communication, the laptop 1010 may, for example,continuously capture an image of the user 1005 using the EPOD 100. Forexample, the EPOD 100 may include an optical sensor (e.g., a camera) forcapturing images. In some examples, the laptop may stream the capturedimages to the other users' device through the computer network duringthe online communication. In some implementations, when the user 1005move during the online communication, the EPOD 100 may be configured tomove in one or more predetermined tracks to advantageously keep a faceof the user 1005 at a center of captured images.

In an illustrative close-up image shown in FIG. 1A, the EPOD 100includes a rotor 105. The rotor, in this example, includes a magneticsource 110. A stator 115 includes multiple electromagnetic coils 120.For example, the electromagnetic coils 120 may be controlled by acontrol circuit 125. In some implementations, the control circuit 125may operate the electromagnetic coils 120 to induce a magnetic force onthe magnetic source 110 to impart relative rotation between the rotor105 and the stator 115.

As shown, the rotor 105 includes two guide tracks 130 on an outersurface. The EPOD 100 includes two followers 135, in this example, eachprotruding radially inward to slidingly engage one of the correspondingguide tracks 130. For example, accordingly, the relative rotationbetween the rotor 105 and stator 115 may be constrained by the guidetracks 130 to follow a predetermined motion profile.

As shown in FIGS. 1B-1C, the EPOD 100 having a spherical rotor coupledto an array of electromagnetic sources. In the depicted embodiment anEPOD is provided with a rotor 105 having a magnetic source 110. Asdepicted, the magnetic source 110 includes an array of magnetic sources.The magnetic sources 110 may, by way of example and not limitation, bepermanent magnets, electromagnetic coils, or some combination thereof.The electromagnetic sources may, by way of example and not limitation,include individual electromagnetic (EM) coils, miniaturized coils, coilson a printed circuit board (PCB) (e.g., flexible, rigid), or somecombination thereof. In various embodiments the EM source may, forexample, be multi-dimensional (e.g., multiple layers), disposed on acurved surface (e.g., as depicted), or some combination thereof. In thedepicted example, the coils of the magnetic source 110 are electricallyconnected by at least one harness 111. In various embodiments, theharness 111 may be wired, individual wiring harnesses may be supplied toeach coil and/or to groups of coils, the harness may be embedded (e.g.,printed traces) in a circuit board and/or directly in the rotor 105, orsome combination thereof.

The rotor 105 is disposed within a stator 115 (shown in cross-section).In the depicted example, the stator 115 is constructed as a shellconfigured to receive the rotor 105 in rotatable communication. Thedepicted stator 115 includes an outer (rectangular) housing (e.g.,configured to be mounted to a desired object) and a semi-spherical innershell 116. The inner shell 116 is provided with an array(s) ofelectromagnetic coils 120. As depicted, the electromagnetic coils 120are embedded in the inner shell 116. The coil 120 are connected by aharness 121. In various embodiments the coils 120 may, by way of exampleand not limitation, be provided with individual harnesses, groups ofcoils may be provided with harnesses, harnesses may be embedded in acircuit board(s) and/or directly in the rotor 105, or some combinationthereof.

The (electro)magnetic source 110 and the electromagnetic coils 120 arein electrical communication with at least one control circuit 125 viathe harnesses 111 and 121, respectively. In various embodiments variouscoils may, for example, be provided with individual and/or sharedcontrol circuits. Control circuits may, for example, be embedded in theEPOD 100, be disposed adjacent to the EPOD 100, may be remotelyconnected (e.g., via wired and/or wireless connections), or somecombination thereof. The control circuit(s) 125 may, by way of exampleand not limitation, provided power and/or control to the respectiveelectromagnetic coils. For example, the control circuit(s) 125 mayoperate the source 110 and/or coils 120 to induce a gradatedelectromagnetic field (e.g., continuous gradient, stepped gradient). Forexample, the control circuit may energize the electromagnetic coils 120with a relatively low voltage (e.g., 3-6V). Accordingly, a magneticforce (Fm) may be generated between the source 110 the coils 120.

The rotor 105 is provided with guide tracks 130. As depicted, the rotor105 includes at least two guide tracks 130. In various embodiments, theguide tracks 130 may be (uniformly) distributed circumferentially abouta z-axis 150. For example, two additional guide tracks 130 may beprovided on the other side. In various embodiments, one or more pairs ofguide tracks 130 may be provided. Each pair may, for example, bedisposed along a single line extending across the rotor 105 andorthogonal to the z-axis 150 (e.g., hemispherical, each pair definingtwo substantially equal halves of the rotor 105). As depicted, the guidetracks 130 are longitudinal (e.g., relative to the z-axis 150.

In various embodiments an air gap (not shown) may be maintained, forexample, between the rotor 105 and the stator 115. The stator 115 isprovided with followers 135 (e.g., fixed). The followers 135 mayprotrude radially inward from the stator 115 and engage (e.g., slidably)the guide tracks 130 when the rotor 105 is disposed within the stator115. Accordingly, the guide tracks 130 in cooperation (e.g., slidable)with the followers 135 may constrain motion between the rotor 105 andthe stator 115 to a predetermined motion profile.

The magnetic force (Fm) may, for example, induce motion of the rotor 105relative to the stator 115. Accordingly, the rotor 105 may rotate in afirst direction 1A, and/or a second direction 1B. For example, the rotor105 may rotate from a first position shown in FIG. 1B to a secondposition shown in FIG. 1C. The guide tracks 130 may, for example,prevent rotation about the z-axis 150. For example, the guide tracks 130may constrain rotation to be about a y-axis (e.g., a lateral axis 155),an x-axis, or some combination thereof.

In the depicted example the EPOD is provided with locking elements 140.As depicted, the locking elements 140 are slidably disposed within thefollowers 135. One or more of the locking elements 140 may, for example,pressingly engage the sphere surface (e.g., the outer surface of therotor 105) and/or the guide track 130. The locking elements 140 may, byway of example and not limitation, be electrically, hydraulically,mechanically, and/or manually actuatable.

As depicted, a payload 145 of the rotor 105 is an optical sensor(s). Thepayload 145 may, by way of example and not limitation, include a camera,optical sensor of one or more pixels, thermal imaging array, or somecombination thereof. In various embodiments the payload 145 may beprovided with at least one electromagnetic signal emitter (e.g., opticalemitter).

For example, the two guide tracks may be substantially 1800 apart (asmeasured about the z-axis 150). The payload 145 may have an optical axiscoaxial with the z-axis. The followers 135 may define the lateral axis155 intersecting the z-axis 150 and passing through the center of thespherical rotor 105. Actuation of the magnetic source 110 and/or thecoils 120 (e.g., by the control circuit 125) may induce Fm, which maycause the rotor 105 to rotate about the lateral axis 155. The rotor 105may rotate relative to the lateral axis 155 within the limits of theguide tracks 130. Accordingly, the relative rotation between the rotorand the stator follows a predetermined motion profile defined as afunction of the guide tracks 130. Furthermore, the payload 145 mayfollow a predetermined trajectory profile defined as a function of theguide tracks 130 such that an angle α between the optical axis (coaxialwith the z-axis 150) and the axis of rotation (e.g., the lateral axis155) is less than 180 degrees.

FIG. 2A and FIG. 2B depict an exemplary EPOD having a spherical rotorcoupled to a magnetic source. In the depicted example, the rotor 105 isprovided with a (single) magnetic source 210. The magnetic source 210may, by way of example and not limitation, be a permanent magnet, anelectromagnetic coil(s), or some combination thereof. The (spherical)rotor 105 is disposed within the stator 115 (shown in cross-section). Anair gap (not shown) may be maintained between the rotor 105 and thestator 115.

The stator 115 is provided with the inner shell 116 having the array(s)of electromagnetic coils 120. The electromagnetic coils 120 are inelectrical communication by a harness 121 (e.g., via integral electriccommunication between the coils 120 by the shell 116) to the controlcircuit(s) 125. The control circuit(s) 125 may, for example, operate(e.g., selectively energize) one or more of the electromagnetic coils120 to generate an electromagnetic field which acts on the magneticsource 210 to generate a magnetic force Fm. Accordingly, movement (e.g.,2A and/or 2B) may be induced of the rotor 105 relative to the stator115. The movement may carry the payload 145 along at least some portionof a predetermined motion profile as determined by interaction of thefollowers 135 with the guide tracks 130 (e.g., from the position 200 tothe position 201).

FIG. 3 depicts an exemplary EPOD having a cylindrical rotor (e.g., atleast partially hollow) configured to rotate about a spherical stator.The EPOD is provided with a rotor 305. The rotor 305 is provided with(electro)magnetic array(s) 310 (e.g., on an interior surface of therotor 305, on an exterior surface, embedded in a wall). The rotor 305 isconfigured as a shell about a (spherical) stator 315. The stator 315may, for example, include electromagnetic coils and/or at least onemagnetic source. The magnetic source(s) and/or coil(s) may, for example,be on a surface and/or embedded in the stator 315. The stator 315 is(fixedly) coupled to a positioning member 316 (e.g., a column).

The magnetic arrays 310 may, for example, be provided with at least oneharness 321. The harness 321 may electrically connect the magneticarray(s) 310 with at least one control circuit 325. The controlcircuit(s) 325 may, for example, operate the array(s) 310 and/or thesource(s) in the stator 315.

The stator 315 is provided with at least one guide track 330. Forexample, the stator 315 may be provided with two guide tracks 330defined by coaxial, opposing radii of the stator 315. The rotor 305 isprovided with followers 335 protruding radially (e.g., relative to acenter of the spherical stator 315) inward. Each follower 335 isconfigured to slidably engage with a corresponding guide track 330. Inthe depicted example, (each) follower 335 is provided with an(actuatable) locking element 340. Accordingly, the rotor 305 may bereleasably coupled to the stator 315 in a releasable fixed position.

The magnetic array(s) 310 may be mechanically and/or magneticallycoupled to the stator (e.g., to magnetic source(s) therein) by at leastone roller element 350. For example, at least one roller element 350 maybe provided corresponding to each magnetic array 310. Each rollerelement 350 may, by way of example and not limitation, include amagnetic source, ferrous material (e.g., magnetically susceptible), orsome combination thereof. The roller element 350 may, for example,provide mechanical support for rotation between the stator 315 and therotor 105. The roller element(s) 350 may, for example, provide magneticcoupling and/or electrical communication between the stator 315 and themagnetic array(s) 310.

Operation of the (electro)magnetic array(s) 310 and/or (electro)magneticelements in the stator 315 (e.g., by the control circuit 325) may inducemagnetic force between the rotor 305 and the stator 315 (e.g., asdepicted by exemplary positions 300A, 300B, and 300C). The magneticforce may, for example, induce rotation of the rotor 305 about thestator 315. The rotation may, for example, position a payload 345. Theposition of the payload 345 may be determined by the rotation of therotor 305. The rotor 305 may be constrained to a predetermined motionprofile. The profile may, for example, be a function of the guide tracks130, the positioning member 316, and/or the followers 335.

FIG. 4 depicts an exemplary EPOD having a cylindrical rotor configuredto be rotated about a spherical stator by telescopingelectromagnetically driven arms. In the depicted configuration 400, theEPOD is provided with a rotor 405. The rotor 405 is configured as a (atleast partially hollow) shell (at least partially) surrounding a(spherical) stator 410. An air gap may be provided between the rotor 405and the stator 410. The stator 410 is (fixedly) coupled to a positioningmember 411 (e.g., a column). The rotor 405 is coupled to telescopingmembers 415 by joints 416 connected to coupling elements 417. In variousembodiments the rotor 405 may, for example, be rotatably supported aboutthe stator 410 by one, two, three, four, or more (telescoping) members415.

Each telescoping member 415 is provided with at least two telescopingsections provided with respective magnetic elements 420 (e.g., arrays).In various embodiments, a first section of a pair of telescopingsections may be provided with an electromagnetic coil and/or array, anda second section may be provided with a magnetic source(s), anelectromagnetic source(s), magnetic array(s), magnetically susceptibleelement(s) and/or arrays, or some combination thereof. At least oneelectromagnetic coil may be electrically coupled to at least one controlcircuit (not shown). The control circuit may operate the coil(s) toinduce differential extension and/or retraction (‘telescoping’ motion4A) of a corresponding arm(s). The extension and/or retraction mayinduce rotation of the rotor 405 about the stator 410. For example, acontrol circuit(s) may operate coil(s) such that different armstelescope different amounts and/or in different directions relative toone another.

The stator 410 is provided with at least one guide track 425. The rotor405 is provided with at least one corresponding follower 430. Eachfollower 430 is configured to slidably engage a corresponding guidetrack 425. In the depicted example, each follower 430 is provided withan (actuatable) locking element 435.

The rotor 405 is provided with a payload 440. Operation of thetelescoping member(s) 415 may cause rotation of the rotor 405 about thestator 410 such that the payload 440 is positioned in a (desired)orientation. Motion of the rotor 405 (and, accordingly, the payload 440)may be constrained to follow a predetermined motion profile defined atleast partially by the guide track(s) 425 and follower(s) 430.

FIG. 5 depicts an exemplary EPOD having a cylindrical rotor configuredto be rotated about a spherical stator by electromagnetically rotatedfollowers. In the depicted configuration 500, the EPOD is provided witha rotor 505 disposed over a stator 510. The stator 510 is coupled to apositioning member 515. An air gap may be provided between the rotor 505and the stator 510. The rotor 505 is provided with at least one follower520 extending (radially) inward. The stator 510 is provided with atleast one guide track 525. Each follower 520 may be configured toslidably engage a corresponding guide track 525. In the depictedexample, each follower 520 is provided with an (actuatable) lockingelement 535.

At least one follower 520 may, for example, be rotatably coupled to therotor 505 (e.g., by at least one bearing). At least one of the rotor 505and the rotatably coupled follower 520 may, for example, be providedwith at least one magnetic source 530 and the other with at least onemagnetic source 528 (e.g., electromagnetic coils, as shown). At leastone control circuit (not shown) may be electromagnetically coupled tothe at least one magnetic source 528. In the depicted example, the rotor505 may be provided with electromagnetic coils as the at least onemagnetic source 528 and the (rotatable) follower(s) 520 may be providedwith magnetic source(s) 530, or vice versa. In some embodiments themagnetic source(s) 530 may, for example, include electromagneticcoil(s). The control circuit(s) may, for example, operate the coil(s) ofthe at least one magnetic source 528 to induce rotation (motion 5A) ofthe rotor 505 relative to the stator 510. In various embodiments the(electro)magnetic elements of 528 and 530 may, for example, be (replacedby) a motor (e.g., an electric motor, stepper motor, servo motor).

The stator 510 may, for example, be provided with at least one magneticsource(s) (e.g., permanent magnet, electromagnet). The magneticsource(s) of the stator 510 may, for example, interact with the(electro)magnetic source(s) 528 and/or 530 to generate a force(s) whichinduces motion (e.g., rotation) of the rotor 505 about the stator 510(e.g., along the guide tracks 525). The motion may, for example, move apayload 540 along a predetermined motion profile at least partiallydefined by the guide track(s) 525.

FIG. 6 depicts an exemplary EPOD configured to electromagneticallycontrol focus and/or aperture of an optical sensor. In the depictedexample 600, a payload carrier 605 is rotatably and/or slidably coupledto a base 610. The carrier 605 and the base 610 are provided withcorresponding magnetic elements (e.g., arrays, permanent magnets,electromagnet coils, magnetically susceptible material) 615 and 620,respectively. At least one of the magnetic elements 615 and 620 may beelectromagnetic coils configured to induce linear (e.g., telescopic)motion of the carrier 605 relative to the base 610 (e.g., when thecoil(s) are operated by a control circuit(s), not shown). In variousembodiments linear motion (e.g., motion 6A) may advantageously controlzoom of an optical element(s) of a payload 645 (e.g., by controllingseparation of optical members such as lenses).

In the depicted example the carrier 605 is provided with a ring 625having magnetic elements 630. The base 610 is provided with a ring 635having magnetic elements 640. At least some of the magnetic elements 630and/or 640 may be electromagnetic coil(s) (e.g., in electricalcommunication with and/or operably coupled to by at least one controlcircuit, not shown). Operation of the electromagnetic coils may generatea magnetic force between the magnetic elements 630 and 640 such thatrotation is induced (e.g., motion 6B) between the base 610 and thecarrier 605. In various embodiments such motion may advantageouslyadjust focus and/or aperture size of an (optical) payload 645.

FIG. 7 depicts an exemplary orientation steering method 700 of anexemplary EPOD (e.g., the EPOD 100). For example, the orientationsteering method 700 may be executed by a control software of the controlcircuit 125. For example, the control software may be installed in thelaptop 1010. In some examples, the control software may be installed ina remote controller of the control circuit. In some examples, thecontrol software may be embedded in a memory module within the controlcircuit executed by an internal processor.

The orientation steering method 700 begins when a target imagerepresenting a target orientation is received in step 705. For example,the target orientation may be centering the user 1005 in the capturedimage. In some examples, the target orientation may be to center apayload at a highest temperature location detected by a thermal imagingarray.

In step 710, a data image from a payload is received. For example, animage is captured by the optical sensor of the EPOD 100. Next, anorientation delta is computed between the data image and the target dataimage in step 715. Upon the orientation delta is computed, in step 720,a control output to orient the payload to minimize the orientation deltais determined. For example, the control output may be determined basedon a predetermined motion profile. In step 725, the control input isgenerated to apply to an electromagnetic control circuit.

After the control input is applied, in step 730, it is determinedwhether an operation end signal is received. If it is determined that anoperation end signal is not received, the method 700 returns to the step710. If it is determined that an operation end signal is received, themethod 700 ends.

Although various embodiments have been described with reference to thefigures, other embodiments are possible. For example, although anexemplary system has been described with reference to the figures, otherimplementations may be deployed in other industrial, scientific,medical, commercial, and/or residential applications.

In various embodiments a payload may, by way of example and notlimitation, include a security camera, motion detector (e.g., a rotormay be operated in response to a motion detector to track a movingtarget), surgical instrument, scanner, optical emitter, mirror, sensor,dispensing mechanism, or some combination thereof. In variousembodiments an EPOD may, by way of example and not limitation, beconfigured and/or operated to direct a sensor (e.g., camera), emitter(e.g., sonar), projectile (e.g., bullet), and/or beam (e.g., laser) at atarget.

In various embodiments an EPOD may, for example, be disposed at a tip ofa medical device (e.g., an endoscope, catheter). Accordingly, forexample, a payload at the tip of the medical device may beadvantageously (controllably) oriented within a predetermined motionprofile.

In various embodiments an EPOD payload may include a motor (e.g., adrone motor). Accordingly, for example, the motor may be advantageouslyoriented within a predetermined motion profile. Various such embodimentsmay, for example, advantageously provide controllable fine motion of themotor orientation.

In various embodiments an EPOD may be disposed in a robotic assembly.For example, an EPOD may be provided with a payload such as anartificial eye. The eye may, for example, be (controllably) orientedwithin a predetermined motion profile of the EPOD.

In various embodiments, an EPOD may be provided with a payload includinga camera. The EPOD may, for example, be mounted on and/or in a computingdevice (e.g., as a front-facing camera on a tablet, laptop, smartphone).Motion of the EPOD may, for example, be controlled in response to atleast one motion detector (e.g., hardware, software such as configuredto perform image analysis of image(s) captured by the payload) within apredetermined motion profile. The EPOD may, for example, be controlledsuch that a user's face may be centered in a field of view of thecamera. For example, an active schoolchild may be advantageously keptcentered in the screen during remote education.

In various embodiments an EPOD may be advantageously deployed in, by wayof example and not limitation, tablet devices, smart phones, desktopcomputers, laptop computers, printers (e.g., inkjet, laser, 3D),security/police applications (e.g., doorbell cameras, cameras, motiondetectors, sound detectors, body cams, dash cams), medical applications(e.g., endoscopes, scopes, hand pieces, oral scanners), militaryapplications (e.g., laser rangefinder designators, smart bombs, cameras,scopes, weapons), space exploration (e.g., satellites, mirrors, sensors,emitters, receivers), smart/self-driving vehicle sensors, drones (e.g.,sensors, cameras, motors), robotics (e.g., sensors, cameras), or somecombination thereof.

In various embodiments an EPOD may, by way of example and notlimitation, be configured to have low power consumption (e.g.,releasably actuating locking elements such that electromagnetic elementsare only operated during motion), be configured for miniatureapplications (e.g., smartphone cameras), be configured for largeapplications (e.g., military projectile launchers), be lightweight, bedrop resistant, be configured to only be activated on demand, beintegrated into electromechanical systems (e.g., in an embeddedcircuit(s)), be integrated with software, provide directional control ofa payload, provide zoom control of an optical element, provide focuscontrol of an optical element, provide aperture control of an opticalelement, be provided with wireless connectivity, or some combinationthereof.

In various embodiments power consumption may be reduced by routing powerthat is already heading to a destination in a way that achieves thedesired creation and/or control of the electromagnets, magnets, andmagnetic fields. For example, various embodiments may advantageously belighter weight than existing motors, may advantageously reduce oreliminate required dedicated electricity to induce motion, may generateless heat, and/or may be more resistant to failure upon impact. Forexample, various embodiments may convert heat from other deviceprocesses (e.g., processor operation) into electricity and store it(e.g., in capacitors) to provide power.

In various embodiments electromagnetic circuits may, for example, beconfigured as integrated circuits. Some embodiments may, for example,include (micrometer scale or smaller) electromagnetic coils. In variousembodiments electromagnetic coils and/or electrical pathways (e.g.,harnesses, traces) may, by way of example and not limitation, beprinted. For example, in some embodiments a rotor, stator, and/or otherEPOD component may be 3D printed. In some such embodiments, for example,electrical conductors may be 3D printed (e.g., with the main structureof the component).

In various embodiments, an EPOD rotor and/or stator may be configured asa three-dimensional shape such as, by way of example and not limitation,a polyhedron and/or sphere. A rotor may, for example, be a polyhedron(e.g., a three-dimensional octagon) disposed within a stator configuredas a shell. A rotor may, for example, be a shell disposed over apolyhedron configured as a stator.

In various embodiments, some bypass circuits implementations may becontrolled in response to signals from analog or digital components,which may be discrete, integrated, or a combination of each. Someembodiments may include programmed, programmable devices, or somecombination thereof (e.g., PLAs, PLDs, ASICs, microcontroller,microprocessor), and may include one or more data stores (e.g., cell,register, block, page) that provide single or multi-level digital datastorage capability, and which may be volatile, non-volatile, or somecombination thereof. Some control functions may be implemented inhardware, software, firmware, or a combination of any of them.

Computer program products may contain a set of instructions that, whenexecuted by a processor device, cause the processor to performprescribed functions. These functions may be performed in conjunctionwith controlled devices in operable communication with the processor.Computer program products, which may include software, may be stored ina data store tangibly embedded on a storage medium, such as anelectronic, magnetic, or rotating storage device, and may be fixed orremovable (e.g., hard disk, floppy disk, thumb drive, CD, DVD).

Although an example of a system, which may be portable, has beendescribed with reference to the above figures, other implementations maybe deployed in other processing applications, such as desktop andnetworked environments.

Temporary auxiliary energy inputs may be received, for example, fromchargeable or single use batteries, which may enable use in portable orremote applications. Some embodiments may operate with other DC voltagesources, such as a 9V (nominal) battery, for example. Alternatingcurrent (AC) inputs, which may be provided, for example from a 50/60 Hzpower port, or from a portable electric generator, may be received via arectifier and appropriate scaling. Provision for AC (e.g., sine wave,square wave, triangular wave) inputs may include a line frequencytransformer to provide voltage step-up, voltage step-down, and/orisolation.

Although particular features of an architecture have been described,other features may be incorporated to improve performance. For example,caching (e.g., L1, L2, . . . ) techniques may be used. Random accessmemory may be included, for example, to provide scratch pad memory andor to load executable code or parameter information stored for useduring runtime operations. Other hardware and software may be providedto perform operations, such as network or other communications using oneor more protocols, wireless (e.g., infrared) communications, storedoperational energy and power supplies (e.g., batteries), switchingand/or linear power supply circuits, software maintenance (e.g.,self-test, upgrades), and the like. One or more communication interfacesmay be provided in support of data storage and related operations.

Some systems may be implemented as a computer system that can be usedwith various implementations. For example, various implementations mayinclude digital circuitry, analog circuitry, computer hardware,firmware, software, or combinations thereof. Apparatus can beimplemented in a computer program product tangibly embodied in aninformation carrier, e.g., in a machine-readable storage device, forexecution by a programmable processor; and methods can be performed by aprogrammable processor executing a program of instructions to performfunctions of various embodiments by operating on input data andgenerating an output. Various embodiments can be implementedadvantageously in one or more computer programs that are executable on aprogrammable system including at least one programmable processorcoupled to receive data and instructions from, and to transmit data andinstructions to, a data storage system, at least one input device,and/or at least one output device. A computer program is a set ofinstructions that can be used, directly or indirectly, in a computer toperform a certain activity or bring about a certain result. A computerprogram can be written in any form of programming language, includingcompiled or interpreted languages, and it can be deployed in any form,including as a stand-alone program or as a module, component,subroutine, or other unit suitable for use in a computing environment.

Suitable processors for the execution of a program of instructionsinclude, by way of example, both general and special purposemicroprocessors, which may include a single processor or one of multipleprocessors of any kind of computer. Generally, a processor will receiveinstructions and data from a read-only memory or a random access memoryor both. The essential elements of a computer are a processor forexecuting instructions and one or more memories for storing instructionsand data. Generally, a computer will also include, or be operativelycoupled to communicate with, one or more mass storage devices forstoring data files; such devices include magnetic disks, such asinternal hard disks and removable disks; magneto-optical disks; andoptical disks. Storage devices suitable for tangibly embodying computerprogram instructions and data include all forms of non-volatile memory,including, by way of example, semiconductor memory devices, such asEPROM, EEPROM, and flash memory devices; magnetic disks, such asinternal hard disks and removable disks; magneto-optical disks; and,CD-ROM and DVD-ROM disks. The processor and the memory can besupplemented by, or incorporated in, ASICs (application-specificintegrated circuits).

In some implementations, each system may be programmed with the same orsimilar information and/or initialized with substantially identicalinformation stored in volatile and/or non-volatile memory. For example,one data interface may be configured to perform auto configuration, autodownload, and/or auto update functions when coupled to an appropriatehost device, such as a desktop computer or a server.

In some implementations, one or more user-interface features may becustom configured to perform specific functions. Various embodiments maybe implemented in a computer system that includes a graphical userinterface and/or an Internet browser. To provide for interaction with auser, some implementations may be implemented on a computer having adisplay device, such as a CRT (cathode ray tube) or LCD (liquid crystaldisplay) monitor for displaying information to the user, a keyboard, anda pointing device, such as a mouse or a trackball by which the user canprovide input to the computer.

In various implementations, the system may communicate using suitablecommunication methods, equipment, and techniques. For example, thesystem may communicate with compatible devices (e.g., devices capable oftransferring data to and/or from the system) using point-to-pointcommunication in which a message is transported directly from the sourceto the receiver over a dedicated physical link (e.g., fiber optic link,point-to-point wiring, daisy-chain). The components of the system mayexchange information by any form or medium of analog or digital datacommunication, including packet-based messages on a communicationnetwork. Examples of communication networks include, e.g., a LAN (localarea network), a WAN (wide area network), MAN (metropolitan areanetwork), wireless and/or optical networks, the computers and networksforming the Internet, or some combination thereof. Other implementationsmay transport messages by broadcasting to all or substantially alldevices that are coupled together by a communication network, forexample, by using omni-directional radio frequency (RF) signals. Stillother implementations may transport messages characterized by highdirectivity, such as RF signals transmitted using directional (i.e.,narrow beam) antennas or infrared signals that may optionally be usedwith focusing optics. Still other implementations are possible usingappropriate interfaces and protocols such as, by way of example and notintended to be limiting, USB 2.0, Firewire, ATA/IDE, RS-232, RS-422,RS-485, 802.11 a/b/g, Wi-Fi, Ethernet, IrDA, FDDI (fiber distributeddata interface), token-ring networks, multiplexing techniques based onfrequency, time, or code division, or some combination thereof. Someimplementations may optionally incorporate features such as errorchecking and correction (ECC) for data integrity, or security measures,such as encryption (e.g., WEP) and password protection.

In various embodiments, the computer system may include Internet ofThings (IoT) devices. IoT devices may include objects embedded withelectronics, software, sensors, actuators, and network connectivitywhich enable these objects to collect and exchange data. IoT devices maybe in-use with wired or wireless devices by sending data through aninterface to another device. IoT devices may collect useful data andthen autonomously flow the data between other devices.

Various examples of modules may be implemented using circuitry,including various electronic hardware. By way of example and notlimitation, the hardware may include transistors, resistors, capacitors,switches, integrated circuits, other modules, or some combinationthereof. In various examples, the modules may include analog logic,digital logic, discrete components, traces and/or memory circuitsfabricated on a silicon substrate including various integrated circuits(e.g., FPGAs, ASICs), or some combination thereof. In some embodiments,the module(s) may involve execution of preprogrammed instructions,software executed by a processor, or some combination thereof. Forexample, various modules may involve both hardware and software.

Various embodiments disclosed herein may be directed to electromagneticsteering of a rotor-mounted payload (e.g., the optical sensor describedwith reference to FIG. 1A) according to a predetermined motiontrajectory profile between the rotor 105 and the stator 115, at leastone of which is a sphere. The other of the rotor 105 and the stator 115may be a shell at least partially surrounding the sphere. The payloadmay, by way of example and not limitation, be an optical sensor (e.g., acamera). The payload may, for example, be coupled to and/or disposed inthe rotor 105. The rotor 105 may be rotatably coupled to the stator 115.One or more guide tracks 130 (e.g., 1, 2, 3, 4, or more) may be providedon the sphere. Corresponding followers 135 (e.g., 1, 2, 3, 4, or more)may protrude from an interior of the shell such that each followerslidingly engages a corresponding guide track when the sphere isdisposed in the shell. Accordingly, the guide tracks 130 may at leastpartially define a predetermined motion profile of rotation between thesphere and the shell. In various embodiments, the guide tracks 130 may,for example, be hemispherical (e.g., defining substantially equalhalves); equatorial (e.g., running ‘east west’); and/or longitudinal(e.g., running ‘north-south’).

The stator 115 may be provided with controllable electromagnetic coils120. In some implementations, the stator 115 may be provided with atleast one magnetic source 110. In various embodiments, the at least onemagnetic source 110 may include, by way of example and not limitation,one or more permanent magnets, one or more electromagnetic coils, orsome combination thereof.

In some implementations, the control circuit 125 may be operably coupledto the controllable electromagnetic coils 120. The control circuit 125may operate the electromagnetic coils 120 to generate magnetic force(e.g., attractive and/or repulsive) between the coils 120 and the atleast one magnetic source 110. The magnetic force may induce rotationbetween the stator 115 and the rotor 105.

In various embodiments an electromagnetic steering apparatus (e.g., anEPOD) may include a rotor; a stator; and at least oneelectromagnetically telescoping arm rotatably coupled to the rotor. Acontrol circuit may be operably coupled to operate the arm(s) todifferentially telescope to induce relative rotation between the rotorand the stator. The stator may be a sphere and the rotor may include aconcentric shell surrounding the sphere.

The sphere may be provided with at least one guide track on an outersurface and the shell may be provided with a corresponding at least onefollower protruding radially inward and extending across the air gap toslidingly engage the corresponding at least one guide track such thatrelative rotation between the rotor and stator is constrained by theguide track to follow a predetermined motion profile.

In various embodiments an optical sensor may be mounted on a rotor. Theoptical sensor may have an optical axis intersecting an axis of rotationpassing through the center of the sphere and the at least one guidetrack. Relative rotation between the rotor and the stator may cause theoptical sensor to follow a predetermined trajectory profile defined as afunction of the guide track such that an angle between the optical axisand the axis of rotation is less than 180 degrees.

A number of implementations have been described. Nevertheless, it willbe understood that various modifications may be made. For example,advantageous results may be achieved if the steps of the disclosedtechniques were performed in a different sequence, or if components ofthe disclosed systems were combined in a different manner, or if thecomponents were supplemented with other components. Accordingly, otherimplementations are contemplated.

What is claimed is:
 1. An electromagnetic steering apparatus,comprising: a rotor coupled to a magnetic source; an optical sensormounted on the rotor; a stator comprising a plurality of controllableelectromagnetic coils; and, a control circuit operably connected to theplurality of controllable electromagnetic coils to induce a magneticforce on the magnetic source to induce relative rotation between therotor and the stator, wherein: either of the rotor or the stator is asphere, and the other of the rotor or the stator comprises a concentricshell surrounding the sphere and being separated from the sphere by anair gap, and, the sphere is provided with at least one guide track on anouter surface, and the shell is provided with at least one followercorresponding to the at least one guide track, wherein the at least onefollower protrudes radially inward and extends across the air gap toslidingly engage the corresponding at least one guide track, wherein theoptical sensor and a center of the sphere define an optical axis, andthe optical axis intersects an axis of rotation passing through thecenter of the sphere and the at least one guide track such that: therelative rotation between the rotor and the stator causes the opticalsensor to follow a predetermined motion profile defined as a function ofthe at least one guide track such that an angle between the optical axisand the axis of rotation is less than 180 degrees.
 2. Theelectromagnetic steering apparatus of claim 1, wherein the magneticsource comprises at least one permanent magnet.
 3. The electromagneticsteering apparatus of claim 1, wherein the magnetic source is comprisedentirely of electromagnetic coils.
 4. The electromagnetic steeringapparatus of claim 1, wherein the at least one follower comprises anactuatable lock such that, in an operation mode, the actuatable lockpressingly engages the at least one guide track.
 5. The electromagneticsteering apparatus of claim 1, wherein the control circuit operates theplurality of controllable electromagnetic coils by selectively applyinga voltage differential at each of the plurality of controllableelectromagnetic coils, wherein the voltage differential is less than30V.
 6. The electromagnetic steering apparatus of claim 1, wherein: thestator is the sphere; and, the rotor is the shell at least partiallycylindrically enclosing the stator.
 7. The electromagnetic steeringapparatus of claim 6, wherein: the magnetic source comprises at leastone magnetic array magnetically coupled to the stator by at least oneroller element, and the at least one roller element is configured toprovide electrical communication between the stator and the controlcircuit.
 8. The electromagnetic steering apparatus of claim 1, wherein:the rotor is the sphere; the stator is the shell; and, the at least onefollower comprises the magnetic source, and is coupled to the statorsuch that, in an operation mode, the at least one follower ismagnetically operable by the plurality of controllable electromagneticcoils to induce relative rotation between the rotor and the stator. 9.An electromagnetic steering apparatus comprising: a rotor coupled to amagnetic source; a stator comprising a plurality of controllableelectromagnetic coils; and, a control circuit operably connected to theplurality of controllable electromagnetic coils to induce a magneticforce on the magnetic source to induce relative rotation between therotor and the stator, wherein: either of the rotor or the stator is asphere, and the other of the rotor or the stator comprises a concentricshell surrounding the sphere and separated from the sphere by an airgap, and, the sphere is provided with at least one guide track on anouter surface, and the shell is provided with at least one followercorresponding to the at least one guide track, wherein the at least onefollower protrudes radially inward and extends across the air gap toslidingly engage the corresponding at least one guide track such that: arelative rotation between the rotor and stator is constrained by the atleast one guide track to follow a predetermined motion profile.
 10. Theelectromagnetic steering apparatus of claim 9, further comprising apayload mounted on the rotor, wherein the payload and a center of thesphere define a viewing axis, and the viewing axis intersects an axis ofrotation passing through the center of the sphere and the at least oneguide track, such that an angle between the viewing axis and the axis ofrotation is constrained by the predetermined motion profile and is lessthan 180 degrees.
 11. The electromagnetic steering apparatus of claim 9,wherein the magnetic source comprises at least one permanent magnet. 12.The electromagnetic steering apparatus of claim 9, wherein the magneticsource comprises entirely of electromagnetic coils.
 13. Theelectromagnetic steering apparatus of claim 9, wherein the at least onefollower comprises an actuatable lock such that, in an operation mode,the actuatable lock pressingly engages the at least one guide track. 14.The electromagnetic steering apparatus of claim 9, wherein the controlcircuit operates the plurality of controllable electromagnetic coils byselectively applying a voltage differential at each of the plurality ofcontrollable electromagnetic coils.
 15. The electromagnetic steeringapparatus of claim 9, wherein: the stator is the sphere; and, the rotoris the shell at least partially cylindrically enclosing the stator. 16.The electromagnetic steering apparatus of claim 15, wherein: themagnetic source comprises at least one magnetic array magneticallycoupled to the stator by at least one roller element, and the at leastone roller element is configured to provide electrical communicationbetween the stator and the control circuit.
 17. The electromagneticsteering apparatus of claim 9, wherein: the rotor is the sphere; thestator is the shell; and, the at least one follower comprises themagnetic source, and is coupled to the stator such that, in an operationmode, the at least one follower is magnetically operable by theplurality of controllable electromagnetic coils to induce relativerotation between the rotor and the stator.
 18. An electromagneticsteering apparatus comprising: a rotor coupled to a magnetic source; astator comprising a plurality of controllable electromagnetic coils;and, a control circuit operably connected to the plurality ofcontrollable electromagnetic coils to induce a magnetic force on themagnetic source to induce relative rotation between the rotor and thestator, wherein: either of the rotor or the stator is a sphere, and theother of the rotor or the stator comprises a concentric shellsurrounding the sphere and being separated from the sphere by an airgap, and, the sphere is provided with at least one guide track on anouter surface, and the shell is provided with at least one connectionmeans for slidingly engage the corresponding at least one guide tracksuch that: a relative rotation between the rotor and stator isconstrained by the at least one guide track to follow a predeterminedmotion profile.
 19. The electromagnetic steering apparatus of claim 18,further comprising a payload mounted on the rotor, wherein the payloadand a center of the sphere define a viewing axis, and the viewing axisintersects an axis of rotation passing through the center of the sphereand the at least one guide track, such that an angle between the viewingaxis and the axis of rotation is constrained by the predetermined motionprofile and is less than 180 degrees.
 20. The electromagnetic steeringapparatus of claim 18, wherein the control circuit operates theplurality of controllable electromagnetic coils by selectively apply avoltage differential at each of the plurality of controllableelectromagnetic coils.